Modeling of Increased Rigidity of Industrial Manipulator

2020 ◽  
pp. 170-178
Author(s):  
Eugene Larkin ◽  
Aleksey Bogomolov ◽  
Maxim Antonov
Keyword(s):  
Industrial Manipulator

Time suboptimal control of industrial manipulators along specified paths while keeping an end-effector orientation unchanged

Robotica ◽  
2003 ◽  
Vol 21 (2) ◽  
pp. 153-161 ◽  
Author(s):  
S. Kilicaslan ◽  
Y. Ercan
Keyword(s):  
Suboptimal Control ◽  
Time Step ◽  
End Effector ◽  
Industrial Manipulator ◽  
Industrial Manipulators ◽  
Angular Velocities ◽  
System Equations ◽  
Six Degree Of Freedom ◽  
Time Suboptimal Control

A method for the time suboptimal control of an industrial manipulator that moves along a specified path while keeping its end-effector orientation unchanged is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in a case study to verify the method developed.

scholarly journals Model Referenced Adaptive Control for an Industrial Manipulator

1987 ◽  
Vol 20 (1) ◽  
pp. 247-252
Author(s):  
K. Ramamurthi ◽  
M. Ahmadian
Keyword(s):  
Adaptive Control ◽  
Industrial Manipulator

Synthesis and Balancing of Cam-Modulated Linkages

1987 ◽  
Author(s):  
P. Pracht ◽  
P. Minotti ◽  
M. Dahan
Keyword(s):  
Systematic Approach ◽  
Kinematic Chain ◽  
Path Generation ◽  
Industrial Manipulator ◽  
High Speeds ◽  
Structural Error ◽  
Mass Balancing ◽  
Four Bar Linkage ◽  
Robotic Applications ◽  
Class Of Functions

Abstract Linkages are inherently light, inexpensive, strong, adaptable to high speeds and have little friction. Moreover the class of functions suitable for linkage representation is large. For all these reasons numerous recent works deal with the problem of design mechanisms for robotic applications, but very often in terms of components such as gripper, transmission, balancing. We investigate a new application for linkages, using them to design industrial manipulator. The selected mechanism for this application is a four bar linkage with an adjustable lengh for exact path generation. This adjustment is performed by a track or cam which is substituted to a bar. By this mean, we define a cam-modulated linkage which possess superior accuracy potential and is capable of accomodating of industrial design restrictions. Such a kinematic chain is free from structural error for path generation and the presence of the track introduces the flexibility and versality in the usefull four bar chain. The synthesis technique of cam modulated linkage utilizes loop closure equations, envelop theory to find the centerline and the profile of the track. These techniques provide a systematic approach to the design of mechanism for path generation when extreme accuracy is required. In order to complete an contribution, we take in consideration the static balancing of the synthesized manipulator. To achieve static mass balancing we use the potential energy storage capabilities of linear springs, and integrated it with the non-linear motion of mechanism to provide an exact value of the desired counter loading functions. Examples are worked to demonstrate applications of these procedures and to illustrate the industrial potential of spring balancing and cam-modulated linkage.

An Observer Based State Feedback LFT LPV Controller for an Industrial Manipulator

2012 ◽  
Vol 45 (13) ◽  
pp. 337-342 ◽  
Author(s):  
Florian Saupe ◽  
Harald Pfifer
Keyword(s):  
State Feedback ◽  
Industrial Manipulator

Kinematics Research on PRP Industrial Manipulator with Cylindrical Coordinate

2012 ◽  
Vol 220-223 ◽  
pp. 1748-1751
Author(s):  
Ke Tao ◽  
Tian Shi Liu
Keyword(s):  
Coordinate Transformation ◽  
Theoretical Basis ◽  
Inverse Solution ◽  
Industrial Manipulator ◽  
Rotary Joint ◽  
Cylindrical Coordinate

Abstract: This paper mainly studies the problem of the movement of PRP cylindrical coordinate industrial manipulator. Based on the description of the manipulator position and gesture, the determination of coordinate of the rectilinear joint and rotary joint and the homogeneous coordinate transformation, the kinematical equation and its inverse solution can be deduced subsequently. It provides the theoretical basis for the following study.

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